相关论文: Learning 3D Object Spatial Relationships from Pre-…

Estimating 2D-3D correspondences between RGB images and 3D space is a fundamental problem in 6D object pose estimation. Recent pose estimators use dense correspondence maps and Point-to-Point algorithms to estimate object poses. The…

In autonomous driving and robotics, there is a growing interest in utilizing short-term historical data to enhance multi-camera 3D object detection, leveraging the continuous and correlated nature of input video streams. Recent work has…

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the…

Modeling hand-object manipulations is essential for understanding how humans interact with their environment. While of practical importance, estimating the pose of hands and objects during interactions is challenging due to the large mutual…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

Object-level mapping builds a 3D map of objects in a scene with detailed shapes and poses from multi-view sensor observations. Conventional methods struggle to build complete shapes and estimate accurate poses due to partial occlusions and…

In this paper, we tackle a new task of 3D object synthesis, where a 3D model is composited with another object category to create a novel 3D model. However, most existing text/image/3D-to-3D methods struggle to effectively integrate…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

Prevalent human-object interaction (HOI) detection approaches typically leverage large-scale visual-linguistic models to help recognize events involving humans and objects. Though promising, models trained via contrastive learning on…

Recent progress in 3D scene understanding enables scalable learning of representations across large datasets of diverse scenes. As a consequence, generalization to unseen scenes and objects, rendering novel views from just a single or a…

A robust 3D object tracker which continuously tracks surrounding objects and estimates their trajectories is key for self-driving vehicles. Most existing tracking methods employ a tracking-by-detection strategy, which usually requires…

Generating high-fidelity 3D indoor scenes remains a significant challenge due to data scarcity and the complexity of modeling intricate spatial relations. Current methods often struggle to scale beyond training distribution to dense scenes…

Open-world 3D generation has recently attracted considerable attention. While many single-image-to-3D methods have yielded visually appealing outcomes, they often lack sufficient controllability and tend to produce hallucinated regions that…

Human-object interaction (HOI) synthesis is crucial for creating immersive and realistic experiences for applications such as virtual reality. Existing methods often rely on simplified object representations, such as the object's centroid…

3D object detection is an essential task for achieving autonomous driving. Existing anchor-based detection methods rely on empirical heuristics setting of anchors, which makes the algorithms lack elegance. In recent years, we have witnessed…

Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measurements for reconstruction. One-shot view planning enables…

Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

Recent methods for 6D pose estimation of objects assume either textured 3D models or real images that cover the entire range of target poses. However, it is difficult to obtain textured 3D models and annotate the poses of objects in real…

Learning effective multi-modal 3D representations of objects is essential for numerous applications, such as augmented reality and robotics. Existing methods often rely on task-specific embeddings that are tailored either for semantic…